Tomoya Fujita

> @MiguelCompany @EduPonz > > Could you help to support this issue ? What circumstances would cause WriteProxy::changes_from_writer_low_mark_ to update abnormally? > > I add below log， > > ```...

https://github.com/eProsima/Fast-DDS/pull/4696 works like a magic, i confirmed on my local env as well. @Mario-DL @MiguelCompany thanks a bunch 🚀🚀🚀

@yashmewada9618 out of curiosity. > i.e (Publish in unicast mode and only to the localhost and not any other connected PC, increase the incoming buffer size). for localhost, ROS 2...

CC: @MiguelCompany @EduPonz

> I tried using the ROS_LOCALHOST_ONLY but it didn't work in my case, a more detailed problem can be found https://github.com/ouster-lidar/ouster-ros/issues/278. if it does not work only in localhost, that...

@tonynajjar thanks for creating issue. we have been meeting the similar situation... a couple of things, - [Initial Announcements](https://fast-dds.docs.eprosima.com/en/latest/fastdds/discovery/simple.html#initial-announcements) can be related to the CPU usage spike during the discovery...

CC: @MiguelCompany @EduPonz

> Regarding the Initial Announcements, are you proposing testing out something with the config? i think you can create `DEFAULT_FASTRTPS_PROFILES.xml` in the running directory where you issue `ros2 run xxx`,...

@tonynajjar i am curious, what command did you use for this verification? e.g `ros2 topic xxx` without daemon starting?

@tonynajjar CC: @EduPonz > I still get the CPU spike i think there is still spike after the configuration is applied, but expecting spike period should be mitigated and CPU...